float32[4] q_des_abad
float32[4] q_des_hip
float32[4] q_des_knee

float32[4] qd_des_abad
float32[4] qd_des_hip
float32[4] qd_des_knee

float32[4] kp_abad
float32[4] kp_hip
float32[4] kp_knee

float32[4] kd_abad
float32[4] kd_hip
float32[4] kd_knee

float32[4] tau_abad_ff
float32[4] tau_hip_ff
float32[4] tau_knee_ff

int32[4] flags  

int32[4] mode_abad
int32[4] mode_hip
int32[4] mode_knee